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All of ours have always used 87 - you get no benefit from using higher octane than the engine can use -- these are not high compression engines.
Use a name brand gas withe detergents -- and you are good to go.
The 1MZ-FE engine is high compression at 10:5:1.
I personally, see better throttle response, and it runs better on 93. Not to mention, I get better mpg on 93. It's worth it to me.
To add to the poster abover, the owners manual racommends using 91, butr says 87 is also fine to use. You WILL gail a few whp on 93 over 87, but not enough to really make a difference.